A fuzzy neural network sliding mode controller for vibration suppression in robotically assisted minimally invasive surgery.

Journal: The international journal of medical robotics + computer assisted surgery : MRCAS
Published Date: Dec 1, 2016

Abstract

BACKGROUND: It is very important for robotically assisted minimally invasive surgery to achieve a high-precision and smooth motion control. However, the surgical instrument tip will exhibit vibration caused by nonlinear friction and unmodeled dynamics, especially when the surgical robot system is attempting low-speed, fine motion.

Authors

  • Hongqiang Sang
    School of Mechanical Engineering, Tianjin Polytechnic University, Tianjin, 300387, China.
  • Chenghao Yang
    School of Mechanical Engineering, Tianjin Polytechnic University, Tianjin, 300387, China.
  • Fen Liu
    Department of Intensive Care Unit, The First Affiliated Hospital of Nanchang University, Nanchang, Jiangxi, China.
  • Jintian Yun
    School of Mechanical Engineering, Tianjin Polytechnic University, Tianjin, 300387, China.
  • Guoguang Jin
    School of Mechanical Engineering, Tianjin Polytechnic University, Tianjin, 300387, China.

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